混联艾灸辅疗机器人设计与运动学分析  

Design and Kinematics Analysis of Hybrid Moxibustion Auxiliary Therapy Robot

作　　者：孙琦 汤腾飞 SUN Qi;TANG Tengfei(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械工程学院,浙江杭州310018

出　　处：《轻工机械》2024年第6期23-30,39,共9页Light Industry Machinery

基　　金：浙江省教育厅一般科研项目(Y202353493)。

摘　　要：针对现有艾灸辅助设备自动化程度低、成本高及精度低等问题,笔者提出了一种3UPS-UP-2R型的混联艾灸机器人。该机器人结合了3UPS-UP并联结构稳定性高和2R串联结构灵巧性好的优点来实现稳定且灵活地艾灸操作;采用螺旋理论进行3UPS-UP自由度分析,确定该艾灸机器人的运动特征;推导并联模块和串联模块的运动学逆解的解析解,并通过切片分层搜索算法求解艾灸机器人的可达工作空间。结果表明:该混联艾灸机器人具有5自由度的灵巧运动能力,可达工作空间大,能够较好地满足艾灸辅助理疗的使用需求。Aiming at the problems of low automation,high cost,and low precision of existing moxibustion-assisted equipments,the author proposed a 3UPS-UP-2R hybrid moxibustion robot.This robot combined the advantages of high stability of the 3UPS-UP parallel structure and the good agility of the 2R series structure to achieve stable and flexible moxibustion operation.The motion characteristics of the moxibustion robot were determined through the analysis of the 3UPS-UP degrees of freedom using the screw theory.The analytical solutions for inverse kinematics of parallel module and series module were derived,and the reachable workspace of the moxibustion robot was solved by the slicing hierarchical search algorithm.The results demonstrate that the proposed hybrid moxibustion robot with 5 degrees of freedom possesses agile motion capability,a large reachable workspace,and can effectively meet the usage requirements of moxibustion-assisted therapy.

关 键 词：机器人 艾灸 混联机构 螺旋理论 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]